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Probabilistic Motion Planning for Automated Vehicles

In motion planning for automated vehicles, a thorough uncertainty consideration is crucial to facilitate safe and convenient driving behavior. This work presents three motion planning approaches which are targeted towards the predominant uncertainties in different scenarios, along with an extended s...

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Autore principale: Naumann, Maximilian
Natura: Online
Lingua:inglese
Pubblicazione: KIT Scientific Publishing 2021
Soggetti:
Bewegungsplanung
Planung unter Unsicherheiten
Entscheidungsfindung
Automatisiertes Fahren
POMDP
Motion Planning
Planning under Uncertainty
Decision-Making
Automated Vehicles
thema EDItEUR::T Technology, Engineering, Agriculture, Industrial processes::TG Mechanical engineering and materials
bic Book Industry Communication::T Technology, engineering, agriculture::TG Mechanical engineering & materials
Accesso online:ONIX_20210527_9783731510703_12
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Riassunto:In motion planning for automated vehicles, a thorough uncertainty consideration is crucial to facilitate safe and convenient driving behavior. This work presents three motion planning approaches which are targeted towards the predominant uncertainties in different scenarios, along with an extended safety verification framework. The approaches consider uncertainties from imperfect perception, occlusions and limited sensor range, and also those in the behavior of other traffic participants.

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